CN103381797B - High precision is card reversing control system heavily - Google Patents
High precision is card reversing control system heavily Download PDFInfo
- Publication number
- CN103381797B CN103381797B CN201310312605.XA CN201310312605A CN103381797B CN 103381797 B CN103381797 B CN 103381797B CN 201310312605 A CN201310312605 A CN 201310312605A CN 103381797 B CN103381797 B CN 103381797B
- Authority
- CN
- China
- Prior art keywords
- brake
- control system
- real
- time
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Regulating Braking Force (AREA)
Abstract
The invention provides a kind of high precision heavily card reversing control system, described whole system with heavily block original circuit and brake lamp system in parallel, wherein: each side install a laser distance measuring system in heavy card rear end respectively, laser distance measuring system converts the range information recorded to real-time control system that current signal is sent to operator's compartment; Field working conditions is delivered to real-time control system by video frequency monitoring system in real time; The operating mode that real-time control system provides according to video frequency monitoring system on the one hand sends alerting signal in real time, controls assist brake brake system in time on the other hand to after the current signal process of laser distance measuring system, ensures the accurate location of drag and vehicle.The present invention utilizes high-precision laser range-finding device, and take emergency brake or long-distance remote control to brake by real-time control system to assist brake brake system, the high fix realizing counterweight card controls, and can meet condition and requirement that space launching site connects fortune loading completely.
Description
Technical field
The present invention relates to heavily card high-acruracy survey, highly reliable emergency brake and Internet of Things monitoring, particularly, relate to a kind of high precision heavily card reversing control system.
Background technology
In commercial production and national defense construction field, more and more frequent for the movement of large-scale structure, carrying, installation.Larger transport devices has developed for many years abroad, and along with the development of contemporary industry technical merit, especially under the promotion of hydrostatic drive and automatically controlled information techenology, the development of main equipment highway transport vehicle field is very fast, and technology is tending towards ripe gradually.
External large-scale highway transport vehicle base model has trailer vehicles and driving carriage two kinds, and the domestic development to large-scale highway transport vehicle focuses mostly in traditional independent trailer or superimposed trailer, the load-carrying capacity of these vehicles is generally tens tons, and the length of maximum transporting cargo has tens of rice.Current large-scale highway transport vehicle, except for except the transport of ordinary goods, is also widely used in multiple fields such as iron and steel manufacture, bridge construction, shipbuilding, quay transportation, space engineering.
The positioning control reliability requirement loaded between the heavy duty truck of beast and transport cabin is high.Current heavily card carry process is substantially all by artificial commander, with navigating mate experiential operating.Nearly 20 meters of the length of heavily blocking, the tens of ton of goods of loading, the heavy card position information that navigating mate obtains in operator's compartment is very limited, and accurate judgement is made in the location be difficult in counterweight card operational process.Therefore improve and be heavily stuck in positioning precision in handling process and reliability and just seem particular importance.And consider the requirement of reliability, the hardware modification action of existing heavy card can not be too large, and original operating function can not be affected.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of high precision heavily card reversing control system.
For achieving the above object, the present invention design by whole system with heavily block original circuit and brake lamp system in parallel, do not affect completely heavily card itself operation use; Can in heavy duty truck reversing in the process that aircraft is close in control, measure the closest range (error≤3mm) heavily between card and aircraft and left and right vehicle wheel offset distance (error≤3mm), real-time Transmission is to navigating mate; When reaching the distance of setting, system sends alerting signal in real time; And can brake measure be taked; Simultaneously in conjunction with vehicle carrying video system, allow navigating mate can observe scene and in-vehicle mounted object loaded-up condition after car intuitively.
The invention provides a kind of high precision heavily card reversing control system, described whole system with heavily block original circuit and brake lamp system in parallel, specifically comprise ranging system, assist brake brake system, video frequency monitoring system and real-time control system, wherein: each side install a laser distance measuring system in heavy card rear end respectively, laser distance measuring system converts the range information recorded to real-time control system that current signal is sent to operator's compartment; Field working conditions is delivered to real-time control system by video frequency monitoring system in real time; The operating mode that real-time control system provides according to video frequency monitoring system on the one hand sends alerting signal in real time, controls assist brake brake system in time on the other hand to after the current signal process of laser distance measuring system, ensures the accurate location of drag and vehicle.
Preferably, laser distance measuring system is made up of two high-precision laser range-finding devices, reflection locating plate and conducting cable, wherein: two high-precision laser range-finding devices install antivibration device additional and are arranged at heavily card afterbody, two high-precision laser range-finding devices by conducting cable just range information be delivered in the control system of operator's compartment, reflection locating plate is positioned over target location.
More preferably, high-precision laser range-finding device is the laser range sensor of resolution 1mm.
More preferably, reflection locating plate is two pieces, and size is 80x50cm.
Preferably, assist brake brake system comprises source of the gas loop, brake executive device, wherein: source of the gas loop sets up a special gas circuit from high pressure tank, do not do change original gas circuit, both guarantee the pressure of high pressure gas, do not affect again the normal running heavily blocking existing service brake part simultaneously; Brake executive device on original service brake arrangement connecting rod, arranges an electricity to stop connecting rod, arrange a block arc at electricity connecting rod end of stopping, in work, automatically controlled signal is by solenoid control high pressure draft, and high pressure draft drives pneumatic valve, promote electricity to stop connecting rod by the guide rail of stopping of the electricity on pneumatic valve, complete braking.
Preferably, video frequency monitoring system is made up of high-definition camera, temperature control box, and high-definition camera is arranged in temperature control box, and temperature control box is fixed on above headstock by shock-resistant member.
More preferably, shock-resistant member comprises Shockproof gasket and damping sponge.
More preferably, temperature control box built-in fans and resistance, automatically start cooling or heat up time too high or too low for temperature.
Preferably, real-time control system is made up of, for acquisition of signal, signal transacting and control decision programmable logic controller (PLC), peripheral circuit and various interface.
More preferably, programmable logic controller (PLC) is made up of central processing module and analog input module, and current signal carries out Signal sampling and processing through analog input module, and carries out school zero-sum filtering process by central processing module and exported by programming control.
Compared with prior art, the present invention has following beneficial effect:
(1) distance measuring equipment (DME) is enough accurately reliable, and in real time correlation distance data can be sent to control system;
(2) improved brake equipment braking is reliable in time, does not affect original artificial brake system simultaneously;
(3) have no small vibrations owing to being heavily stuck in traveling process, thus control system particularly video monitoring device take enough dampings and earthquake resistant construction;
(4) adopt industrial grade controller and programmable logic controller (PLC) PLC, precision is high, and processing speed is fast, safe and reliable.
The present invention utilizes high-precision laser range-finding device, and take emergency brake or long-distance remote control to brake by real-time control system to assist brake brake system, the high fix realizing counterweight card controls, and can meet condition and requirement that space launching site connects fortune loading completely.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is present system entire block diagram.
Fig. 2 is laser ranging module real vehicle scheme of installation of the present invention.
Fig. 3 is assist brake gas circuit of the present invention transformation schematic diagram.
Fig. 4 is auxiliary brake system machine rebuilding schematic diagram of the present invention.
Fig. 5 is that the present invention controls main program block diagram.
Fig. 6 is inventive touch screen man-machine interface schematic diagram.
In figure: 1 is high-precision laser range-finding device, 2 is reflection locating plate, and 3 is conducting cable, 4 is service brake pedal, and 5 is master cylinder, and 6 is high pressure tank, 7 is electromagnetic valve, 8 is motor-operated control valve, and 9 is pneumatic valve, and 10 is pneumatic valve 9 admission port, 11 to stop guide rail for electricity, 12 to stop connecting rod for electricity, and 13 is brake pedal link rod, and 14 is arc link stopper.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
As shown in Figure 1, the present embodiment provides a kind of high precision heavily card reversing control system, comprise two laser ranging modules, assist brake brake system, video frequency monitoring system and real-time control system, two laser ranging modules are respectively in the heavy left and right sides, card rear end, by cable, range information is delivered in the control system of operator's compartment, and by concrete numerical value display on the touchscreen.Real-time control system sends warning according to program setting, controls auxiliary brake system work simultaneously.Also by based radio frequency remote controller, distance control assist brake brake system.The camera of video frequency monitoring system is then arranged on above headstock, is presented on vehicle-carrying display screen by real-time image information via real-time control system.The range information recorded is converted to high anti-interference current signal and is sent to real-time control system by two laser ranging modules; Field working conditions is delivered to real-time control system by video frequency monitoring system in real time; The operating mode that real-time control system provides according to video monitoring device on the one hand sends alerting signal in real time, on the other hand to driving pneumatic valve to promote assist brake brake equipment after the current signal process of laser ranging system in time, ensure the accurate location of drag and vehicle.
Be illustrated in figure 2 the present embodiment ranging system real vehicle scheme of installation, laser ranging system comprises two high-precision two laser ranging modules 1, reflection locating plate 2 and conducting cable 3, laser ranging system 1 installs antivibration device measure additional and is fixed on heavily card afterbody, to be delivered to by current signal to be arranged in the real-time control system of operator's compartment by conducting cable 3; In order to provide laser reflection face, and improve the reliability of system, the reflection locating plate 2 of two pieces of 80x50cm is positioned over target location.
This kind of installation does not affect charge and discharge operations, and do not need car body transformation, collision free and safe and reliable, installs 20cm backward by laser ranging module 1, then calibrated when data processing, just can solve indeterminable problem in 20cm.
Be illustrated in figure 3 the present embodiment assist brake brake system source of the gas circuit diagram, namely the electricity that one section of H-L-M-N in parallel is new on original basis is stopped gas circuit, wherein: admission port H connects high pressure tank 6, L connects motor-operated control valve 8 import, M connects motor-operated control valve 8 and exports, and air extractor duct M connects the admission port of pneumatic valve 9; In order to ensure independence and the reliability of system, admission port H is connected on the high pressure tank 6 of vehicle, this ensure that electronic auxiliary brake system can not affect original service brake and hand-braking system, namely chaufeur is artificially braked with assist brake is that two cover independent parallels are independent of each other, to guarantee the reliability of system.Motor-operated control valve 8 working power uses vehicle-mounted 24V storage battery, in order to ensure the reliable and stable of system, implements voltage stabilizing isolation processing to power supply.
Be illustrated in figure 4 the present embodiment assist brake brake system mechanical schematic, I figure is front view, and II figure is the G direction view of front view, wherein: electricity connecting rod 12 of stopping is fixed on brake pedal link rod 13; Electricity stops guide rail 11 for being connected to the two pieces of metal sheets (forming a guide rail style) on pneumatic valve 9, and connecting rod 12 of being stopped by electricity is arranged on electricity and stops between guide rail 11 two pieces of metal sheets (guide rail), plays the effect of " knot that can be undone by a pull "; 9 is pneumatic valve; 10 is pneumatic valve 9 admission port, particularly weld an arc link stopper 14 at the stop end of connecting rod 12 of electricity, and be placed in electricity and stop guide rail 11 position on the lower side, arranging arc link stopper 14 is in order to electricity above pneumatic valve 9 when preventing service brake from braking is stopped the impact of guide rail 11 on service brake pedal link rod 13 extendible portion, prevent electricity stop connecting rod 12 when moving from electricity stop guide rail 11 two plate metal plates between skid off.
Assist brake brake system principle of work: when stepping on brake, brake pedal moves downward, electricity is stopped connecting rod 12 upward movements; Due to electricity stop guide rail 11 be two pieces of metal sheets " knot that can be undone by a pull " structure, thus do not affect artificial braking completely; When auxiliary brake system triggers braking, control system sends brake signal, the air inlet of pneumatic valve 9 admission port 10, and pneumatic valve 9 upwards jack-up electricity connecting rod 12 of stopping drives brake pedal to move downward, and car brakeing is almost just the same with the process stepping on brake pedal; When reset brake signal, pneumatic valve 9 admission port 10 is exitted, and electricity connecting rod 12 of stopping is followed electricity guide rail 11 of stopping and moved downward, and drives brake pedal to reset.
Be illustrated in figure 5 the present embodiment real-time control system main program block diagram, according to input and output amount and signal transacting precision, real-time control system selects SiemensS7-200CPU222CN central processing unit and EM231 analog quantity processing module, central authorities' process processing unit has 32 Floating-point Computation, position processing speed reaches 0.22 μ s, by analog quantity processing module input two-way 4-20mA distance measuring signal, carry out process by central processing unit (CPU) and calculate, and control to export, report to the police and brake signal.
During concrete enforcement, the spacing of vehicle and locating plate changes, and on touch-screen, reading changes thereupon, and described real-time control system changes situation according to the spacing of vehicle and locating plate and carries out control and report to the police and brake, specific as follows:
(a) as 1.5m< straight-line distance≤250cm, short warning;
B () is as 0.4m< straight-line distance≤150cm, long warning, send first time brake signal simultaneously, vehicle is in braking mode, the upper reset button of point touching screen (or on cabinet reset button), alarm release, device automatically resets, and ready for braking next time;
C (), as straight-line distance≤40cm, long warning again, sends second time brake signal simultaneously, vehicle is in braking mode, the upper shift knob of point touching screen, cuts out and reports to the police and brake signal, can moving vehicle (distance parameter still can show on screen);
(d) as 40cm< straight-line distance≤1m and left and right deviation in range >=5cm time, send alerting signal, remind chaufeur eliminate deviation, left and right vehicle wheel offset distance <5cm report to the police automatically terminate.
Be illustrated in figure 6 the present embodiment video frequency monitoring system touch screen human-computer interface schematic diagram, video frequency monitoring system use Siemens human-machine interface configuration software WinCCflexible builds touch screen human-computer interface as shown in the figure.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (7)
1. a high precision heavily card reversing control system, it is characterized in that, described system with heavily block original circuit and brake lamp system in parallel, specifically comprise ranging system, assist brake brake system, video frequency monitoring system and real-time control system, wherein: each side install a laser distance measuring system in heavy card rear end respectively, laser distance measuring system converts the range information recorded to real-time control system that current signal is sent to operator's compartment; Field working conditions is delivered to real-time control system by video frequency monitoring system in real time; The operating mode that real-time control system provides according to video frequency monitoring system on the one hand sends alerting signal in real time, controls assist brake brake system in time on the other hand to after the current signal process of laser distance measuring system, ensures the accurate location of drag and vehicle;
Described assist brake brake system comprises source of the gas loop and brake executive device, wherein: source of the gas loop sets up a special gas circuit from high pressure tank, do not do change original gas circuit; Brake executive device arranges an electricity and to stop connecting rod on original service brake arrangement connecting rod, arrange a block arc at electricity connecting rod end of stopping, in work, automatically controlled signal is by solenoid control high pressure draft, and high pressure draft drives pneumatic valve, promote electricity to stop connecting rod by the guide rail of stopping of the electricity on pneumatic valve, complete braking.
2. a kind of high precision according to claim 1 heavily card reversing control system, it is characterized in that, described ranging system is made up of two high-precision laser range-finding devices, reflection locating plate and conducting cable, wherein: laser ranging system installs antivibration device additional and is arranged at heavily card afterbody, laser ranging system by conducting cable by current signal transfer to real-time control system, reflection locating plate be positioned over target location.
3. a kind of high precision according to claim 2 heavily card reversing control system, is characterized in that, described high-precision laser range-finding device is the laser range sensor of resolution 1mm; Described reflection locating plate is two pieces, and size is 80 × 50cm.
4. a kind of high precision according to claim 1 heavily card reversing control system, it is characterized in that, described video frequency monitoring system is made up of high-definition camera, temperature control box, and high-definition camera is arranged in temperature control box, and temperature control box is fixed on above headstock by shock-resistant member.
5. a kind of high precision according to claim 4 heavily card reversing control system, is characterized in that, temperature control box built-in fans and resistance.
6. the heavily card reversing control system of a kind of high precision according to any one of claim 1-5, it is characterized in that, described real-time control system is made up of programmable logic controller (PLC), peripheral circuit and various interface, for acquisition of signal, signal transacting and control decision, programmable logic controller (PLC) is made up of central processing module and analog input module, current signal carries out Signal sampling and processing through analog input module, and carries out school zero-sum filtering process by central processing module and exported by programming control.
7. a kind of high precision according to claim 6 heavily card reversing control system, is characterized in that, described real-time control system changes situation according to the spacing of vehicle and locating plate and carries out control and report to the police and brake, concrete control as follows:
(a) as 150cm< straight-line distance≤250cm, short warning;
B (), as 40cm< straight-line distance≤150cm, long warning, sends first time brake signal simultaneously, vehicle is in braking mode, and point touching shields reset button on upper reset button or cabinet, alarm release, device automatically resets, and ready for braking next time;
C (), as straight-line distance≤40cm, again longly to be reported to the police, send second time brake signal, vehicle is in braking mode simultaneously, and the upper shift knob of point touching screen, cuts out and report to the police and brake signal, can moving vehicle, and distance parameter can be presented on screen;
(d) as 40cm< straight-line distance≤100cm and left and right deviation in range >=5cm time, send alerting signal, remind chaufeur eliminate deviation, left and right vehicle wheel offset distance <5cm report to the police automatically terminate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310312605.XA CN103381797B (en) | 2013-07-23 | 2013-07-23 | High precision is card reversing control system heavily |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310312605.XA CN103381797B (en) | 2013-07-23 | 2013-07-23 | High precision is card reversing control system heavily |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103381797A CN103381797A (en) | 2013-11-06 |
| CN103381797B true CN103381797B (en) | 2016-04-13 |
Family
ID=49489804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310312605.XA Expired - Fee Related CN103381797B (en) | 2013-07-23 | 2013-07-23 | High precision is card reversing control system heavily |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103381797B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104815863B (en) * | 2015-03-25 | 2017-08-25 | 内蒙古北方重工业集团有限公司 | A kind of detection method of billet location |
| CN105129296A (en) * | 2015-09-24 | 2015-12-09 | 中联重科股份有限公司 | Reversing control method, device and system as well as refuse transfer truck |
| CN105654696A (en) * | 2016-03-18 | 2016-06-08 | 丁云广 | Large-scale vehicle back-up director |
| CN111347988A (en) * | 2020-02-28 | 2020-06-30 | 浙江南都鸿芯动力科技有限公司 | Equipment and method for carrying out fault prompt by utilizing vehicle-mounted sound |
| CN111348027B (en) * | 2020-03-27 | 2022-02-01 | 武汉路特斯汽车有限公司 | Electronic parking control system and control method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101590846A (en) * | 2009-04-03 | 2009-12-02 | 南京信息工程大学 | Automatic protection system for vehicle anticollision |
| CN102452381A (en) * | 2010-10-27 | 2012-05-16 | 西安众智惠泽光电科技有限公司 | Reversing anti-collision system |
| CN202271981U (en) * | 2011-10-25 | 2012-06-13 | 成都市翻鑫家科技有限公司 | Back-up radar system with automatic braking function |
| CN102529807A (en) * | 2011-12-29 | 2012-07-04 | 扬州大学 | Automobile anti-collision alarm system based on pulse laser ranging |
| CN203020198U (en) * | 2012-12-29 | 2013-06-26 | 长安大学 | Auxiliary anti-collision reversing device for forklift |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005056016A (en) * | 2003-08-08 | 2005-03-03 | Adoin Kenkyusho:Kk | Collision avoidance apparatus |
| US20060187010A1 (en) * | 2005-02-18 | 2006-08-24 | Herbert Berman | Vehicle motion warning device |
-
2013
- 2013-07-23 CN CN201310312605.XA patent/CN103381797B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101590846A (en) * | 2009-04-03 | 2009-12-02 | 南京信息工程大学 | Automatic protection system for vehicle anticollision |
| CN102452381A (en) * | 2010-10-27 | 2012-05-16 | 西安众智惠泽光电科技有限公司 | Reversing anti-collision system |
| CN202271981U (en) * | 2011-10-25 | 2012-06-13 | 成都市翻鑫家科技有限公司 | Back-up radar system with automatic braking function |
| CN102529807A (en) * | 2011-12-29 | 2012-07-04 | 扬州大学 | Automobile anti-collision alarm system based on pulse laser ranging |
| CN203020198U (en) * | 2012-12-29 | 2013-06-26 | 长安大学 | Auxiliary anti-collision reversing device for forklift |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103381797A (en) | 2013-11-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103381797B (en) | High precision is card reversing control system heavily | |
| CN202110103U (en) | Electro-hydraulic servo vehicular mixed backfill soil compactness rapid measuring system | |
| CN203512793U (en) | Container automation dock loading and unloading system | |
| CN205676026U (en) | Crane automatic positioning weighting and security monitoring management system | |
| CN107685743A (en) | Intelligent coupler system | |
| CN104444800A (en) | Three-dimensional automatic control crane and control method thereof | |
| CN102491179B (en) | Distributed control system | |
| CN202226064U (en) | Aircraft tractor oversteer monitoring device | |
| CN201724719U (en) | Motor truck scale unattended metering system | |
| CN103832928A (en) | Control system of garbage grab crane | |
| CN204007822U (en) | A kind of dynamic weigher for tractor safety test line | |
| CN204384730U (en) | Truck contraposition designating system under container wharf RTG, RMG | |
| CN204915458U (en) | Device for preventing vehicle roof and goods collision | |
| CN103145046B (en) | The automatic safety-control device of bridge machine and method under complex working condition | |
| CN203364751U (en) | Graduated scale unloading vehicle displacement recognition system | |
| CN203178805U (en) | Automatic navigation logistics system based on multi-information fusion | |
| CN204324722U (en) | The crane that a kind of three-dimensional controls automatically | |
| WO2023155466A1 (en) | Terminal system for integrally monitoring information of refrigerated truck | |
| Lee et al. | A development of auto alignment system between trailer and freight wagon using electronic sensors for intermodal transportation | |
| CN202641520U (en) | Alarm device of freight vehicle | |
| CN206773752U (en) | A kind of van charging ratio management system based on Internet of Things cloud computing | |
| CN204774849U (en) | A stop device for tipper | |
| CN201765041U (en) | Dumper-mounted weighing system for open mine | |
| CN201054019Y (en) | Solar energy remote-moving apparatus monitoring device | |
| CN203203675U (en) | Control device suitable for dynamic railroad track scale weighing system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160413 Termination date: 20180723 |